5,088 research outputs found
Unsupervised Learning of Edges
Data-driven approaches for edge detection have proven effective and achieve
top results on modern benchmarks. However, all current data-driven edge
detectors require manual supervision for training in the form of hand-labeled
region segments or object boundaries. Specifically, human annotators mark
semantically meaningful edges which are subsequently used for training. Is this
form of strong, high-level supervision actually necessary to learn to
accurately detect edges? In this work we present a simple yet effective
approach for training edge detectors without human supervision. To this end we
utilize motion, and more specifically, the only input to our method is noisy
semi-dense matches between frames. We begin with only a rudimentary knowledge
of edges (in the form of image gradients), and alternate between improving
motion estimation and edge detection in turn. Using a large corpus of video
data, we show that edge detectors trained using our unsupervised scheme
approach the performance of the same methods trained with full supervision
(within 3-5%). Finally, we show that when using a deep network for the edge
detector, our approach provides a novel pre-training scheme for object
detection.Comment: Camera ready version for CVPR 201
Video Propagation Networks
We propose a technique that propagates information forward through video
data. The method is conceptually simple and can be applied to tasks that
require the propagation of structured information, such as semantic labels,
based on video content. We propose a 'Video Propagation Network' that processes
video frames in an adaptive manner. The model is applied online: it propagates
information forward without the need to access future frames. In particular we
combine two components, a temporal bilateral network for dense and video
adaptive filtering, followed by a spatial network to refine features and
increased flexibility. We present experiments on video object segmentation and
semantic video segmentation and show increased performance comparing to the
best previous task-specific methods, while having favorable runtime.
Additionally we demonstrate our approach on an example regression task of color
propagation in a grayscale video.Comment: Appearing in Computer Vision and Pattern Recognition, 2017 (CVPR'17
TextureGAN: Controlling Deep Image Synthesis with Texture Patches
In this paper, we investigate deep image synthesis guided by sketch, color,
and texture. Previous image synthesis methods can be controlled by sketch and
color strokes but we are the first to examine texture control. We allow a user
to place a texture patch on a sketch at arbitrary locations and scales to
control the desired output texture. Our generative network learns to synthesize
objects consistent with these texture suggestions. To achieve this, we develop
a local texture loss in addition to adversarial and content loss to train the
generative network. We conduct experiments using sketches generated from real
images and textures sampled from a separate texture database and results show
that our proposed algorithm is able to generate plausible images that are
faithful to user controls. Ablation studies show that our proposed pipeline can
generate more realistic images than adapting existing methods directly.Comment: CVPR 2018 spotligh
Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing
Robotic picking from cluttered bins is a demanding task, for which Amazon
Robotics holds challenges. The 2017 Amazon Robotics Challenge (ARC) required
stowing items into a storage system, picking specific items, and packing them
into boxes. In this paper, we describe the entry of team NimbRo Picking. Our
deep object perception pipeline can be quickly and efficiently adapted to new
items using a custom turntable capture system and transfer learning. It
produces high-quality item segments, on which grasp poses are found. A planning
component coordinates manipulation actions between two robot arms, minimizing
execution time. The system has been demonstrated successfully at ARC, where our
team reached second places in both the picking task and the final stow-and-pick
task. We also evaluate individual components.Comment: In: Proceedings of the International Conference on Robotics and
Automation (ICRA) 201
Superpixel Convolutional Networks using Bilateral Inceptions
In this paper we propose a CNN architecture for semantic image segmentation.
We introduce a new 'bilateral inception' module that can be inserted in
existing CNN architectures and performs bilateral filtering, at multiple
feature-scales, between superpixels in an image. The feature spaces for
bilateral filtering and other parameters of the module are learned end-to-end
using standard backpropagation techniques. The bilateral inception module
addresses two issues that arise with general CNN segmentation architectures.
First, this module propagates information between (super) pixels while
respecting image edges, thus using the structured information of the problem
for improved results. Second, the layer recovers a full resolution segmentation
result from the lower resolution solution of a CNN. In the experiments, we
modify several existing CNN architectures by inserting our inception module
between the last CNN (1x1 convolution) layers. Empirical results on three
different datasets show reliable improvements not only in comparison to the
baseline networks, but also in comparison to several dense-pixel prediction
techniques such as CRFs, while being competitive in time.Comment: European Conference on Computer Vision (ECCV), 201
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